Navigable probe and rotating motor control apparatus

ABSTRACT

A motor control apparatus (1) for articulating a probe (3) is constructed with at least one tension adjusting cable (4) to articulate the probe (3), and reversible motor (10a) and a rotatable torque cable (6) to rotate a device within an articulating tip of the probe (3).

This is a provisional application Ser. No. 60/024,885, filed Aug. 30,1997 and a provisional application Ser. No. 60/051,344 filed Jun. 30,1997.

FIELD OF THE INVENTION

The invention relates to controls for moving a navigable probe, forexample, a medical probe.

BACKGROUND OF THE INVENTION

A navigable probe may comprise, for example, a gastroscope andtransesophagel type medical imaging probe as described in U.S. Pat. No.5,445,154. The probe contains an ultrasound imaging transducer at theend of a flexible cable. The probe is used for medical diagnosis, forexample, by inserting the probe inside a body cavity of a patient, andacquiring an ultrasound image by using an ultrasonic transducer. A tipof the probe is adapted to flex to a curved shape in differentdirections of flexure. Individual torque and articulation control cablesextend through the probe. By pulling on individual cables, the probe tipcan be flexed or extended to a curved shape, thus, to traverse the probealong bends of a body cavity, and to point the imaging transducer indifferent directions. The probe cable may contain a torque control cablecapable of transmitting a twisting force or twisting motion through theprobe and its articulating section while the section is flexed into acurved shape. The torque control cable may be used for transducerrotation to allow imaging along different planes. Adjusting the probe toa curved shape and rotating the torque control cable, currently requirescareful hand operation, and hand operation is required to start and stopthe movement of the probe to avoid injuring a patient with the probe.

SUMMARY OF THE INVENTION

The invention relates to motorized, controlled movement of a navigableprobe actuated by one or more tension adjusting cables. For example, anultrasound imaging transducer on a tip of a medical imaging probe isarticulated by applying tension to the cable, and is rotated by therotatable torque control cable.

The invention further relates to a motor control apparatus for rotatinga device within the navigable probe, such as an ultrasonic imagingtransducer, and is comprised of, a rotatable torque control cable torotate a device within the probe, and a reversible motor coupled to thetorque control cable.

The invention further relates to a motor control apparatus capable oflimiting the force exerted by a navigable probe.

The invention further relates to a motor control apparatus that iscapable of limiting the tension applied to one or more articulationcontrol cables, or to a torque control cable, or both, by a limitingsystem that limits the tension or the torque, or both the tension andthe torque.

The invention further relates to a motor control apparatus thatrestricts the articulation of a navigable probe to prevent fartherarticulation of the probe in response to resistance by the surface ofthat which is being probed, whereby endangering surfaces sensitive topressure is avoided.

The invention further relates to a rotatable torque control cable incombination with, one or more articulation control cable(s) forimparting movement of the control cable(s).

The invention further relates to a motor control apparatus with aslender configuration, which can be operated by one person.

The invention relates further to a motor control apparatus with aslender configuration to hold and manipulate the motor control apparatuswith a single hand of a person.

The invention relates further to a motor control apparatus with aslender configuration suitable for mounting in a slender housing.

The invention further relates to a multiposition switch or variableswitch of a motor control apparatus to activate reversible motor(s).

The invention further relates to a switch of a motor control apparatusto activate a reversible motor mounted on a housing attached to a probe,to be operated by digits on one hand of a person grasping the housing.

The invention further relates to a medical imaging probe comprising: arotating torque control cable to rotate an ultrasonic transducer on theprobe, and a reversible motor coupled to the torque control cable torotate the torque control cable.

The invention further relates to a medical imaging probe comprised of: arotating torque control cable to rotate an ultrasound imaging transducerwithin the probe, with a reversible torque motor coupled to the torquecontrol cable to rotate the torque control cable, one or more controlcables to flex the probe in variable degrees of flexure of the probe.

The invention further relates to a medical imaging probe wherein outputshafts of a reversible articulation control motor and a reversibletorque motor are in-line with a longitudinal axis of the torque controlcable, to provide a slender configuration.

The invention further relates to a medical imaging probe wherein, areversible articulation control motor and a reversible torque motor areparallel to longitudinal axes of a torque control cable and controlcables, to provide a slender configuration.

The invention further relates to a medical imaging probe wherein, areversible probe articulation motor output shaft and a reversible torquecontrol cable motor output shaft are in tandem alignment, to provide aslender configuration.

The invention further relates to a medical imaging probe wherein, areversible probe articulation motor has a limited torque output torestrict the articulation of control cables in response to farthermovement of the probe being resisted by the surface of that which isbeing probed.

According to an embodiment, the motors are constructed or governed toprovide limited torque output.

According to an embodiment, a reversible motor is provided with alimited torque output to prevent the probe from farther flexure orextension by the reversible motor when such articulation of the probe isresisted.

According to an embodiment, the axis of each motor output shaft isparallel with the longitudinal axis of the torque control cable, toprovide a slender configuration.

According to an embodiment, the axis of each motor output shaft isin-line with the longitudinal axis of the torque control cable, toprovide a slender configuration.

According to an embodiment, the axis of each motor output shaft isparallel with the longitudinal axes of the probe articulation controlcable(s), to provide a slender configuration.

According to an embodiment, the axis of each motor output shaft isoriented non-parallel to the longitudinal axis of the control cables.

According to an embodiment, one or more multiposition or continuouslyvariable control switch(es), or rheostats, are provided and are moveablein different directions. They are electrically connected to thereversible torque motor(s), to run the motor(s) in reversibledirections.

According to an embodiment, the control motors are detached from ahousing to be activated from a remote location.

According to an embodiment, the articulation control cables are actuatedby a gear to gear drive mechanism.

According to an embodiment, the articulation control cables are actuatedby a gear to pulley mechanism.

According to an embodiment, the articulation control cables are actuatedby a sprocket and chain mechanism.

According to an embodiment, the articulation control cables are actuatedby a pulley to pulley drive mechanism.

According to an embodiment, the position of the probe relative to thelongitudinal axis of the motor control housing, is indicated by dialsmounted on the housing.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described by way of examplewith reference to the accompanying drawings, according to which:

FIG. 1 is a schematic view of a motor control for a medical probe;

FIG. 2 is a top view of a portion of a medical probe;

FIG. 3 is a side view of the medical probe portion shown in FIG. 2;

FIG. 4 is a cross section of a flexible probe and its central torquecontrol line and articulation control cables;

FIG. 5 is a side view of an interior of the medical probe as shown inFIG. 3;

FIG. 6 is a top view of indicator dials indicating pitch and yawpositions of the articulating section of the flexible probe shown inFIG. 4;

FIG. 7 is a section view of the medical probe as shown in FIG. 3, andfurther illustrating details of construction;

FIG. 8 is an isometric view of an embodiment of a motor control for amedical probe;

FIG. 9 is a side view of the motor control as shown in FIG. 8;

FIG. 10 is another isometric view of the motor control as shown in FIG.8, and

FIG. 11 is an isometric view of the embodiment shown in FIG. 8 forcontainment in a housing, with housing halves shown separated from oneanother.

DETAILED DESCRIPTION

With reference to FIGS. 1 and 8, a motor control apparatus (1) for anavigable probe, for example, a medical imaging probe, of an ultrasoundimaging transducer, not shown, is comprised of one or more cables (4)extending along a flexible elongated bendable probe (3) to flex thebendable probe (3) to a curved configuration in various degrees offlexure by pulling on one or more articulation control cables (4). Asshown in FIG. 1, one articulation control cable (4) is continuous,whereas, in FIG. 8, two articulation control cables (4) may terminate inrespective cable ends that comprise a corresponding cable pair (2).According to an embodiment shown in FIG. 1, additional cables (4) mayextend along the bendable probe (3) to flex the bendable probe (3) invarious degrees of flexure, and in one or more additional directions offlexure, by applying tension to an alternate control cable (4, 4), byalternately pulling on individual cables (4), to effect the articulationof the tip of the probe (3).

A medical imaging probe is further comprised of the elongated bendableprobe (3) attached to a housing (5), FIGS. 2, 3 and 11. Details of thebendable probe (3) are described in U.S. Pat. No. 5,445,154. Individualarticulation control cables (4, 4) of each corresponding cable pair (2)are radially spaced from a rotating torque control cable (6), alsocalled, a central control cable (6), FIGS. 4 and 8, extending to a knownultrasound imaging transducer, not shown, on a tip of the articulatingend of the probe (3).

By alternately pulling on one or more articulation control cables (4, 4)of the embodiment of FIG. 1, the end of the bendable probe (3) can beflexed in corresponding one or more, for example, four, directions offlexure. In addition, the rotating torque control cable (6) is used torotate the transducer within the articulating end of the bendable probe(3). By alternately pulling on individual articulation control cables(4, 4) of the corresponding cable pair (2) in each of the embodiments ofFIGS. 1 and 8, the bendable probe (3) can be flexed in one direction offlexure forward, then straightened in a backward direction, then curvedin a second direction of flexure backward, and therefrom straightened ina direction forward. The motor control apparatus (1), FIGS. 1, 5, 7, 8,9, 10 and 11, is in an interior of the housing (5) to flex the bendableprobe (3), by alternately pulling on individual articulation controlcables (4, 4) of the corresponding cable pair (2), imparting individual,reciprocal, or differential movement of the articulation control cables(4, 4). Although two cable pairs (2) are illustrated in FIGS. 1-4, andone cable pair (2) is illustrated in FIGS. 8, 10 and 11, at least onearticulation control cable (4) is required to flex the bendable probe(3) to various degrees of flexure. Thus, one or more articulationcontrol cables (4) are intended to be actuated by the motor controlapparatus (1).

With reference to FIGS. 1, 2, 3, 7 and 11, the motor control apparatus(1) is mounted on a housing (5), and is adapted to be operated by digitson one hand of a human operator that grasps the housing (5). Withreference to FIGS. 8, 9 10 and 11, the motor control apparatus (1)further comprises, a reversible articulation control motor (10) drivinga reversible drive mechanism (7) connected to the correspondingarticulation control cables (4, 4). A narrow configuration is providedto hold and manipulate the motor control apparatus (1) with a singlehand of a person. Referencing FIGS. 8 and 11, for example, the motorcontrol apparatus (1) is parallel with longitudinal axes of the parallelarticulation control cables (4, 4). The articulation control motor (10)is in tandem alignment with the axes of the close together, articulationcontrol cables (4, 4). The articulation control motor (10) is areversible electric torque motor, with its longitudinal axis beingparallel with longitudinal axes of the articulation control cables (4,4), where the articulation control cables (4, 4) extend forwardly of themotor control apparatus (1). A relatively slender dimension of thearticulation control motor (10) is oriented transversely of thelongitudinal axes of the articulation control cables (4, 4) to result ina slender lengthwise housing (5) that is easily grasped by a humanoperator.

Further details of an embodiment of the reversible drive mechanism (7)will now be described with reference to FIGS. 1-7. A slip clutch (8) ofeach reversible drive mechanism (7) connects an output shaft (9) of thearticulation control motor (10), for example, a reversible torque motor,to the one or more articulation control cables (4, 4), for the motor(10) to pull on the corresponding articulation control cable (4).

With reference to FIGS. 1-7, the slip clutch (8) is adjusted to slip ata maximum torque output of the articulation control motor (10), as asafety feature, to limit the tension applied to the one or morearticulation control cables (4) despite farther rotation of the outputshaft (9), in response to flexure of the bendable probe (3) beingresisted by a surface of that which is being probed, for example, thesurface of organism tissue. With reference to FIGS. 8-11, thearticulation control motor (10) is designed to provide a selected,maximum torque output, as a safety feature, to restrict the drivemechanism (7) from farther movement by stopping farther rotation of theoutput shaft (9) in response to flexure of the probe being resisted. Forexample, organism tissue can be damaged by increasing the torque outputto effect farther movement of the probe (3) to overcome resistance tosuch movement by the organism tissue. The motor control apparatus (1) isself limiting to restrict farther bending of the articulating portion ofthe bendable probe (3) when a predetermined, maximum limit to the forceon the cable (4) is attained.

Further with reference to FIGS. 1-7, each of the reversible drivemechanisms (7) comprises, the slip clutch (8) engaging a gear (11) on arotatable shaft (12) of a rheostat potentiometer (13), and being mountedon the shaft (12) with a rotatable pulley (14). Reversible rotation ofthe output shaft (9) of the articulation control motor (10) willreversibly rotate the shaft (12) of the potentiometer (13) through theslip clutch (8). The corresponding one continuous articulation controlcable (4), FIG. 1, is looped around the pulley (14), with at least aportion of one turn. A lock fastener (15), attached to the center of thecontinuous articulation control cable (4) is threaded through one of thepulley flanges on the pulley (14) to restrain the ends of the continuousarticulation control cable (4) from shifting its position relative tothe pulley (14).

With reference to FIG. 8, each of the reversible drive mechanisms (7)further comprises, a secondary drive gear (11) coupled to the outputshaft (9) of the articulation control motor (10) through another gear(11a) on the output shaft (9). The secondary drive gear (11) is affixedto a rotatable shaft (12) having an external, helical lead screw (14)that actuates a reciprocating shaft (14a). The helical lead screw (14)meshes with a follower in the form of a triangular projection on theshaft (14a). The shaft 14(a) subsequently reciprocates axially throughthe forward motor mounting block (23d). The shaft 14(a) extends along anopen side of a channel (14b) facing the lead screw (14). The lead screw(14) meshes with the reciprocating shaft (14a) through the open side ofthe channel (14b). Rotation of the lead screw (14) drives thereciprocating shaft (14a) axially, forward and backward, bycorresponding reversed rotation of the lead screw (14). With oppositepitch threads, as shown, the lead screws (14) will actuate thereciprocating shafts (14a) in opposite directions. Each reciprocatingshaft (14a) is parallel with the parallel longitudinal axes of thearticulation control cables (4, 4) to result in a slender housing (5)that is easily grasped by a human operator. The lead screw (14) on oneside of the motor (10) has a right hand thread, and the lead screw (14)on the other side of the motor (10) has a left hand thread.

Further with reference to FIGS. 1 and 4, each articulation control cable(4), whether a single continuous articulation control cable (4), FIG. 1,or one of a pair of articulation control cables (4, 4), is enclosed by asheath (16), FIG. 4, extending along the flexible bendable probe (3).Each corresponding sheath (16) is attached to a sheath holder (17) thatconcentrically encircles a corresponding control cable (4, FIG. 1. Theindividual control cable (4) emerges from the sheath holder (17) in FIG.1.

With reference to FIGS. 1, 8, 9 and 10, the individual control cables(4, 4) connect to respective turnbuckles (18). For example, theturnbuckles (18) are threaded links that adjust the lengths ofindividual control cables (4, 4). With reference to FIG. 8, respectiveturnbuckles (18) connect the cables (4, 4) with the reciprocating shafts(14a) through an offsetting link.

With reference to FIG. 1, the individual control cables (4, 4) of thecorresponding cable pair (2) extend from respective turnbuckles (18).The control cables (4, 4) extend from opposite sides of the pulley (14)and are turned around the cylindrical peripheries of respective, tensionadjusting, toggle pulleys (19). The pulleys (19) are collectivelymounted for rotation on a single shaft (20). A spring loaded, togglelink mechanism (21) connects between each opposite end of the shaft (20)and to an axle (22). The axle (22) is rotatably mounted in a bearingblock (23) that is attached to the housing (5). With reference to FIG.8, the bearing block (23) is attached to the housing (5) by being aturned up portion of a rigid frame (23a) that is attached to the housing(5). The frame (23a) provides an eyelet (23b) with respective channelsthrough which the torque control cable (6) extends, and through which atleast one articulation control cable (4) extends. The eyelet (23b)gathers the articulation control cables (4) and the torque control cable(6), FIG. 4, closely together in parallel with one another, with theirlongitudinal axes parallel with the lengthwise, respective motors (10,10a) to provide a slender configuration. They additionally are in-linewith the lengthwise respective motors (10, 10a) to provide a slenderconfiguration. The motors (10, 10a) are mounted to a portion (23c) ofthe frame (23a) by being secured by motor mounts (23d) that are, inturn, mounted on the portion (23c) of the frame assembly (23a, 23c and23e).

Each of the toggle links (21) comprises a spring loaded link (24) and asecond link (25). An end of the second link (25) is pivotally mounted onthe axle (22) rotatably mounted on the bearing block (23). Each end ofthe axle (22) is secured at the pivoting center of a hand operated,toggle lever (24') mounted on an exterior of the handle (5). Uponrotation of either lever (24') in a clockwise direction, as shown inFIG. 1, each toggle link mechanism (21) comprising the correspondingspring loaded link (24) and a corresponding second link (25) isstraightened, causing pivoting of each pulley (19) to apply tension onthe corresponding cable pair (2), and couple the corresponding cablepair (2) to the drive mechanism (7). The lever (24') can be pivoted toan off position, for example, by pivoting in a counterclockwise(anticlockwise) direction, causing pivotal motion of each pulley (19) soas to release tension on each corresponding cable pair (2), and todecouple each corresponding cable pair (2) from the drive mechanism (7).With reference to FIG. 8, the respective links (24, 25) are mounted onthe frame (23a) in tandem alignment with the respective motors (10, 10a)and respective control line (6) and control cables (4, 4) to provide aslender configuration. The control line (6) and control cables (4, 4)pass through the link 25 that bends in close confinement around thecontrol line (6) and control cables (4, 4), to provide a slenderconfiguration.

With reference to FIGS. 8-10, the control cables (4, 4) of acorresponding cable pair (2) extend from respective turnbuckles (18),and are turned around the cylindrical peripheries of respective tensionadjusting pulleys (19) mounted for rotation on a link (25) of a linkmechanism (21). The link (25) is connected by a rotatable shaft (22) toa pivoting lever (24'). The shaft is mounted to a bearing block (23).The control cables (4, 4) extend from the pulleys (19) and are turnedaround the cylindrical peripheries of respective idler pulleys (19a)that are mounted on spring loaded links (24) of the link mechanism (21).The links (24) extend through a mounting block (23'). The links (24) arespring loaded against the mounting block (23') to bias the pulleys (19a)and apply tension on the control cables (4, 4). The spring loaded links(24) are loaded with nominal spring pressure and apply nominal tensionon the control cables (4, 4), preventing over-tensioning of the controllines (4, 4).

The nominal tension of the articulation control cables (4) is maintainedby a spring loaded link (24) and a second link (25), for example,comprised of idler shafts (24) attached to pulleys through which thearticulation control cables (4, 4) are routed. The articulation controlcables (4) are also routed through similar pulleys which are affixed inthe open ends of a pivotally mounted rotatable yoke of a link mechanism(21). This rotatable yoke is pivotally mounted on an axle (22). The axle(22) comprising this yoke assembly is rotatably mounted on the upturnedportion of the mounting plate (23), shown in FIGS. 8, 10 and 11. The endof the axle (22) is secured at a pivoting axis of a hand operated,toggle lever (24') and mounted on an exterior of the housing (5). Uponrotation of the lever (24') in a clockwise direction, as shown in FIGS.8, 10 and 11, the yoke assembly is moved to a vertical orientation,relative to the baseplates (23a, 23c and 23e), causing pivoting of eachpulley (19) to apply tension on the corresponding cable pair (2), andcouple the corresponding cable (4), and couple the corresponding cable(4) to the drive mechanism (7). The lever (24') can be pivoted to an offposition, for example, by pivoting in a clockwise direction, causingpivotal motion of each pulley (19) so as to release tension on eachcorresponding cable pair (2), and to decouple each corresponding cablepair (2) from the drive mechanism (7). With reference to FIG. 8, thetorque control cable (6) and control cables (4, 4) pass through thecentral axis of the link 25 that comprises the toggle yoke (25) thatbends in close confinement around the cables to provide a slenderconfiguration.

With reference to FIGS. 8-10, the control cables (4, 4) of acorresponding cable pair (2) extend from respective turnbuckles (18),and are turned around the cylindrical peripheries of respective tensionadjusting pulleys (19) mounted for rotation on a link (25) of a linkmechanism (21). The link (25) may comprise a yoke assembly (25), FIG. 8.The link (25) is connected by a rotatable shaft (22) to a pivoting lever(24'). The shaft (22) is mounted to a bearing block (23). For example,the pulleys (19) are mounted for rotation on the open ends of therotatable yoke assembly (25). The link (25) is connected by a rotatableshaft (22) to a pivoting lever (24'). The shaft is mounted to a bearingblock (23). The control cables (4, 4) extend from the pulleys (19) andare turned around the cylindrical peripheries of respective idlerpulleys (19a) that are mounted on spring loaded links (24) of the linkmechanism (21). The links (24) extend through a mounting block (23').The links (24) are spring loaded against the mounting block (23') tobias the pulleys (19a) and apply tension on the control cables (4, 4).The spring loaded links (24) are loaded with nominal spring pressure andapply nominal tension on the control cables (4, 4), preventingover-tensioning of the control lines (4, 4).

With reference to FIG. 10, the lever (24') is pivotable counterclockwiseto pivot the link (25), yoke assembly (25), and move the tensionadjusting pulleys (19) farther from the pulleys (19a), and to applytension on the cables (4, 4) to couple the corresponding cable pair (2)to the drive mechanism (1). Tension is relieved in the following manner.Pivoting the lever (24') clockwise moves the pulleys (19) closer to thepulleys (19a), and decouples the corresponding cable pair (2) from thedrive mechanism (7).

In operation, any one of the levers (24') of the embodiments shown inFIGS. 1 and 9, can be manually pivoted by a human operator for twopurposes. One purpose is to provide a redundant safety feature, orback-up safety feature, to decouple each cable pair (2) from the drivemechanism (7) as a safety feature. The second purpose is to decoupleeach cable pair (2) from the drive mechanism (7) to prevent accidentalmovement of the probe, once the articulating end of the bendable probe(3) has been manipulated to achieve a desired curved configuration.

With reference to FIGS. 2, 3 and 7, mounted on an exterior of eachhousing (5) is a first multiposition, motor control activation,variable, switch (26), or joy stick, having a top button that ismoveable by tilting in four different directions. When the switch (26)is moved by a tilt in one of the directions, the switch (26) completesan electrical connection of a corresponding reversible, torque,articulation control motor (10) to drive the motor (10) in acorresponding direction of rotation. When the switch (26) is moved by atilt in an opposite direction, the switch (26) completes an electricalconnection of the same motor (10) to drive the motor (10) in a reversedirection of rotation. Rotational speed of the motor (10) is controlled,in the embodiment, by tilting the control switch (26) in a differentdirection.

In one embodiment, with reference to FIGS. 2 and 6, a first indicatordial (27) is constructed with a mechanically driven needle, to move theneedle pointer (28), that is rotated by a timing belt (29) driven by theoutput rotation of the reversible torque articulation control motor(s)(10). The relative position of the needle pointer (28) on the indicatordial (27) is an indication of the relative curved position of thebendable probe (3) being curved in opposite directions by pulling onalternate control cables (4, 4) of a corresponding cable pair (2). Forexample, the needle pointer (28) can indicate the vertical pitchrelative to a central axis of the uncurved bendable probe (3), andwhether the pitch is between (positive) 90° or (negative) 90°. A secondneedle pointer (28) of a second indicator dial (27) will indicate thehorizontal yaw position relative to a central axis of the uncurvedbendable probe (3), for example, between positions (positive) 30° leftand or (negative) 30° right of an uncurved, central axis of the uncurvedbendable probe (3).

With reference to FIG. 8, the control line (6) passes through anelongated hollow tube (9c) and connects to a drive shaft (39) of thetorque control cable control motor (10a). The torque control cable (6)connects to the output shaft (9a) of the motor by an adjustable lengthlink (9b).

With reference to FIGS. 2 and 6, a second motor control, or toggle typeswitch (26) of similar construction to the first switch (26) is mountedon an exterior of the housing (5). The second switch (26) is utilized torotate the central control, or torque control cable (6), whichsubsequently rotates the medical imaging transducer at the tip of thearticulating end of the bendable probe (3) at the end of the rotatabletorque control cable (6). Each indicator dial (27) having a pointer (28)is mounted on a rotatable sprocket (29), FIG. 5. Each sprocket (29) isdriven by a corresponding timing belt (30) that loops around a sprocket(31) on a corresponding output shaft (9) of the reversible torque motors(5, 10).

Rotation of the control cable (6) is accomplished by the reversibletorque motor (10a), an output shaft of which is connected by a slipclutch (34), FIG. 1, through a gear (35) on a rotatable shaft (36) of apotentiometer (37). The clutch (34) meshes with a gear (38) mounted on arotatable drive shaft (39). The drive shaft (39) connects to the centraltorque control cable (6). According to FIG. 8, the drive shaft (39) isthe output shaft of the reversible torque motor (10a). The switches (26)are advantageously located adjacent to a grasped section (40) of thehousing (5) to be actuated by one of the digits on a hand of a humanoperator that grasps the section (40). The toggle levers (24) areadvantageously adjacent to the section (40) for ease of manualactuation. The one or more switches (26) can be detached from thehousing (5), and mounted remotely (not on the housing) and electricallyconnected to the reversible motors to activate the motors from a remotelocation.

Known electrical wires, not shown, connect the primary motor (10) andthe motor (10a) with a known source of electrical power, such as, abattery or a generator or an electrical outlet, and connect the primarymotor (10) and the motor (10a) with respective, known on-off switchesor, for example, with the respective switches (26).

Although preferred embodiments have been described, other embodimentsand modifications of the invention are intended to be covered by thespirit and scope of the appended claims.

What is claimed is:
 1. A motorized, medical imaging probe, controlapparatus, comprising: at least one articulation control cable to flexthe probe by individual, reciprocal, or differential movement of thecontrol cable, at least one rotating torque cable to rotate at least oneultrasound transducer within the probe, and a motor control apparatus toactuate their respective cables, wherein the motor control apparatuscomprises: at least one reversible articulation motor coupled to atleast one articulation cable to impart individual, reciprocal, ordifferential movement of the cable, and at least one reversible torquecable motor coupled to the torque cable to impart rotational force to atransducer within the probe.
 2. A medical imaging probe motorizedcontrol apparatus as recited in claim 1, and further comprising: atleast one reversible articulation motor and at least one reversibletorque motor being in tandem or parallel. alignment, to provide aslender configuration easy to grasp.
 3. A medical imaging probemotorized control apparatus as recited in claim 1, and furthercomprising: at least one reversible articulation motor and at least onereversible torque motor being in non-parallel alignment, to provide aconfiguration easy to grasp.
 4. A medical imaging probe motorizedcontrol apparatus as recited in claim 1, and further comprising: themeans to limit the tension applied to the articulation cables torestrict the navigable probe from farther flexure or extension whenresisted to a predetermined degree by the surface of that which is beingprobed.
 5. A medical imaging probe motorized control apparatus asrecited in claim 1, and further comprising:the longitudinal axis of atleast one reversible articulation motor in-line or parallel to alongitudinal axis of the control housing, to provide a slenderconfiguration easy to grasp.
 6. A medical imaging probe motorizedcontrol apparatus as recited in claim 1, and further comprising: thelongitudinal axis of at least one reversible articulation motor and thelongitudinal axis of at least one reversible torque motor being in-lineor parallel to a longitudinal axis of the control housing to provide aslender configuration easy to grasp.
 7. A motor control apparatus formoving a navigable probe, comprising: a rotatable torque line to rotatethe probe, and a reversible motor coupled to the torque line to rotatethe torque line in reversible directions.
 8. A motor control apparatusas recited in claim 7 wherein, the reversible motor is a torque motorwith a limited torque output to become decoupled from farther rotationof the navigable probe in response to farther rotation of the probebeing resisted.
 9. A motor control apparatus as recited in claim 7wherein, the reversible motor is a torque motor with a limited torqueoutput to prevent farther rotation of the navigable probe in response tofarther rotation of the probe being resisted by organism tissue, wherebydamage to the organism tissue is avoided.
 10. A motor control apparatusas recited in claim 7 wherein, the reversible motor is provided with amaximum torque output to prevent farther rotation of the probe uponfarther rotation of the probe being resisted.
 11. A motor controlapparatus as recited in claim 7 wherein, a longitudinal axis of thereversible motor is parallel with a longitudinal axis of the torqueline, to provide a slender configuration.
 12. A motor control apparatusas recited in claim 7 wherein, a longitudinal axis of the reversiblemotor is in-line with a longitudinal axis of the torque line, to providea slender configuration.
 13. A motor control apparatus as recited inclaim 7 wherein, a relatively slender dimension of the reversible motoris oriented transverse to a longitudinal axis of the torque line, toprovide a slender configuration.
 14. A motor control apparatus asrecited in claim 7, and further comprising: a switch electricallyconnected to the reversible motor, the switch activating the reversiblemotor.
 15. A motor control apparatus as recited in claim 7, and furthercomprising: a joy stick switch electrically connected to the reversiblemotor, the switch being moveable in different directions to activate thereversible motor in reversible directions.
 16. A motor control apparatusas recited in claim 7, and further comprising: a switch mounted on ahandle to be operated by digits on one hand of a person grasping thehandle, the handle being attached to the probe, and the switch beingelectrically connected to the reversible motor to activate thereversible motor in reversible directions.
 17. A motor control apparatusas recited in claim 7, and further comprising: at least one pair ofcontrol cables to flex the probe by equal and opposite simultaneousreciprocating movement of the control cables, and a reversible torquemotor coupled to the control cables for imparting equal and oppositesimultaneous reciprocating movement of the control cables.
 18. A motorcontrol apparatus as recited in claim 17 wherein, the reversible motorto rotate the torque line, and the reversible torque motor toreciprocate the control cables, are in tandem alignment, to provide aslender configuration.
 19. A motor control apparatus as recited in claim18 wherein, a longitudinal axis of the reversible motor is parallel withthe longitudinal axes of the control cables, to provide a slenderconfiguration.
 20. A motor control apparatus as recited in claim 18wherein, the reversible motor is in tandem alignment with thelongitudinal axes of the control cables, to provide a slenderconfiguration.
 21. A motor control apparatus as recited in claim 18wherein, a longitudinal dimension of the reversible motor is parallelwith the longitudinal axes of the control cables, to provide a slenderconfiguration.
 22. A motor control apparatus as recited in claim 18wherein, a relatively slender dimension of the reversible motor isoriented transverse to the longitudinal axis of the rotatable torqueline, to provide a slender configuration.
 23. A motor control apparatusas recited in claim 18 wherein, an output shaft of the reversible motoris parallel with the longitudinal axes of the control cables, to providea slender configuration.
 24. A motor control apparatus as recited inclaim 18 wherein, a longitudinal axis of the reversible motor isparallel with longitudinal axes of the control cables, to provide aslender configuration.
 25. A motor control apparatus as recited in claim18, and further comprising: a switch of the motor control apparatus toactivate the reversible motor. a switch of the motor control apparatusto activate the reversible motor.
 26. A motor control apparatus asrecited in claim 18, and further comprising: a joy stick switchelectrically connected to the reversible motor, the switch beingmoveable in different directions to activate the reversible motor torotate in corresponding different directions.
 27. A motor controlapparatus as recited in claim 18, and further comprising: a switch toactivate the reversible motor, the switch being mounted on a handleattached to the probe to be operated by digits on one hand of a persongrasping the handle.
 28. A motor control apparatus as recited in claim17 wherein, the reversible motor is in-line with the longitudinal axesof the control cables, to provide a slender configuration.
 29. A medicalimaging probe, comprising: a rotating torque line to rotate anultrasound transducer on the probe, at least one pair of control cablesto flex the probe by equal and opposite simultaneous reciprocatingmovement of the control cables, and a motor control apparatus, areversible torque motor of the motor control apparatus being coupled tothe control cables to impart equal and opposite simultaneousreciprocating movement of the control cables, and a reversible motor ofthe motor control apparatus being coupled to the torque line to rotatethe torque line.
 30. A medical imaging probe as recited in claim 29, andfurther comprising: the reversible motor and the reversible torque motorbeing in tandem alignment, to provide a slender configuration.
 31. Amedical imaging probe as recited in claim 29, and further comprising:each of the reversible torque motor and the reversible motor having amaximum torque output to decouple from the control cables and the torqueline in response to farther movement of the probe being resisted byorganism tissue, whereby damage to the organism tissue is avoided.
 32. Amedical imaging probe as recited in claim 29, and further comprising:longitudinal axes of the reversible motor and the reversible torquemotor being parallel to longitudinal axes of the torque line and thecontrol cables, to provide a slender configuration.
 33. A medicalimaging probe as recited in claim 29, and further comprising: thereversible motor and the reversible torque motor being in-line withlongitudinal axes of the torque line and the control cables, to providea slender configuration.